panda_py.motion module

Motion generation for the Panda robot. These are also directly integrated as convenience methods of the panda_py.Panda class.

class panda_py.motion.JointTrajectory(self: panda_py._core.JointTrajectory, waypoints: list[numpy.ndarray[numpy.float64[7, 1]]], speed_factor: float = 0.2, max_deviation: float = 0, timeout: float = 30.0)

Bases: pybind11_object

get_duration(self: panda_py._core.JointTrajectory) → float

get_joint_accelerations(self: panda_py._core.JointTrajectory, time: float) → numpy.ndarray[numpy.float64[7, 1]]

get_joint_positions(self: panda_py._core.JointTrajectory, time: float) → numpy.ndarray[numpy.float64[7, 1]]

get_joint_velocities(self: panda_py._core.JointTrajectory, time: float) → numpy.ndarray[numpy.float64[7, 1]]

class panda_py.motion.CartesianTrajectory(*args, **kwargs)

Bases: pybind11_object

Overloaded function.

1. __init__(self: panda_py._core.CartesianTrajectory, positions: list[numpy.ndarray[numpy.float64[3, 1]]], orientations: list[numpy.ndarray[numpy.float64[4, 1]]], speed_factor: float = 0.2, max_deviation: float = 0, timeout: float = 30.0) -> None

2. __init__(self: panda_py._core.CartesianTrajectory, poses: list[numpy.ndarray[numpy.float64[4, 4]]], speed_factor: float = 0.2, max_deviation: float = 0, timeout: float = 30.0) -> None

get_duration(self: panda_py._core.CartesianTrajectory) → float

get_orientation(self: panda_py._core.CartesianTrajectory, time: float) → numpy.ndarray[numpy.float64[4, 1]]

get_pose(self: panda_py._core.CartesianTrajectory, time: float) → numpy.ndarray[numpy.float64[4, 4]]

get_position(self: panda_py._core.CartesianTrajectory, time: float) → numpy.ndarray[numpy.float64[3, 1]]